Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

methode isAlive

Browse Source 
Method def isAlive(self), which defaults to return self._alive < 0, and each environment can override this method (Half Cheetah would implement return False)

(In response to bea468fb93)
This commit is contained in:
Alexis David Jacq
2018-06-15 17:55:20 +02:00
committed by GitHub
parent a57c480f28
commit 292a3f1cf6
1 changed files with 7 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

18
examples/pybullet/gym/pybullet_envs/gym_locomotion_envs.py
View File

@@ -14,7 +14,6 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
self.walk_target_x = 1e3 # kilometer away self.walk_target_x = 1e3 # kilometer away
self.walk_target_y = 0 self.walk_target_y = 0
self.stateId=-1 self.stateId=-1
self.alive = None
def create_single_player_scene(self, bullet_client): def create_single_player_scene(self, bullet_client):
@@ -41,11 +40,8 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
return r return r
def _isDone(self): def _isAlive(self):
if self._alive is not None: return self._alive > 0
return self._alive < 0
else:
return False
def move_robot(self, init_x, init_y, init_z): def move_robot(self, init_x, init_y, init_z):
"Used by multiplayer stadium to move sideways, to another running lane." "Used by multiplayer stadium to move sideways, to another running lane."
@@ -67,8 +63,8 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
state = self.robot.calc_state() # also calculates self.joints_at_limit state = self.robot.calc_state() # also calculates self.joints_at_limit
self.alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch self._alive = float(self.robot.alive_bonus(state[0]+self.robot.initial_z, self.robot.body_rpy[1])) # state[0] is body height above ground, body_rpy[1] is pitch
done = self._isDone() done = not self._isAlive()
if not np.isfinite(state).all(): if not np.isfinite(state).all():
print("~INF~", state) print("~INF~", state)
done = True done = True
@@ -96,7 +92,7 @@ class WalkerBaseBulletEnv(MJCFBaseBulletEnv):
debugmode=0 debugmode=0
if(debugmode): if(debugmode):
print("alive=") print("alive=")
print(alive) print(self._alive)
print("progress") print("progress")
print(progress) print(progress)
print("electricity_cost") print("electricity_cost")
@@ -143,8 +139,8 @@ class HalfCheetahBulletEnv(WalkerBaseBulletEnv):
self.robot = HalfCheetah() self.robot = HalfCheetah()
WalkerBaseBulletEnv.__init__(self, self.robot) WalkerBaseBulletEnv.__init__(self, self.robot)
def _isDone(self): def _isAlive(self):
return False return True
class AntBulletEnv(WalkerBaseBulletEnv): class AntBulletEnv(WalkerBaseBulletEnv):
def __init__(self): def __init__(self):